Recent advances in developing a new branch of Soft Computing (SC) invented for the control of mechanical devices is reported. Instead of the architectures of traditional SC it is based on uniform structures obtained frm the mathematical framework of Classical Mechanics. In connection with that the concepts of the "Minimum Operation Symplectizing Algorithm" (MOSA) and the "Situation-Dependent Partial System Identiication" were developed. The advantages are as follows: a) a priori known and limited number of parameters; b) parameter tuning is replaced by simple. explicit. fnite. and standard algebraic computations; c) to refine the "core algorithm" several interpolation techniques can be incorporated in it. To illustrate its operation simulation examples are given for a special 3DOF robot arm under significant environmental interaction.
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering